[ros-users] dynamic_reconfigure server in Python?

[Blaise Gassend]

Are the dynamic reconfigure topics and services being created (in the ~
namespace for your node)?

I'll need more detail before I can venture a guess at what is wrong...

On Wed, 2010-04-21 at 14:23 -0700, Patrick Bouffard wrote:
> Ah, I see. In fact the make step does do code generation for Python as
> well. I hadn't noticed that it created
> <package>/src/<package>/cfg/fooConfig.py. I just had to add
> <package>/src/<package>/__init__.py and I can instantiate the Server.
> 
> When I run my node and reconfigure_gui, however, I don't see anything
> show up in the reconfigure_gui dropdown, and if I run
> 
> rosrun dynamic_reconfigure dynparam list
> 
> ... nothing is listed either.
> 
> Pat
> 
> On Wed, Apr 21, 2010 at 1:42 PM, Blaise Gassend <blaise at willowgarage.com> wrote:
> > Sorry, for some reason I was thinking that image_rotate was python. Have
> > a look at pr2_camera_synchronizer. It is big and messy, but the
> > reconfigure part is pretty simple. Look at
> > src/pr2_camera_synchronizer/synchronizer_classes.py
> >
> > Relevant lines to your question:
> >   from pr2_camera_synchronizer.cfg import CameraSynchronizerConfig as
> > ConfigType
> >   self.server = DynamicReconfigureServer(ConfigType, self.reconfigure)
> >
> >
> > On Wed, 2010-04-21 at 13:35 -0700, Patrick Bouffard wrote:
> >> Thanks Blaise. That will probably help, though I'm looking for an
> >> example in Python.
> >>
> >> Specifically, I'm stuck as to how to specify the 'type' argument when
> >> instantiating a dynamic_reconfigure.server.Server:
> >>
> >> class Server(object):
> >>     def __init__(self, type, callback): <== what is type?
> >> ...
> >>
> >> I can see that, for C++, there is a build step that generates a C++
> >> class from the .cfg file, i.e. if I have Test.cfg it generates a
> >> TestConfig class. And as shown in the example you point to, that is
> >> the type that is specified in the templated constructor for the
> >> server. So I imagine there is some equivalent to this in python that
> >> probably doesn't involve any code generation, since the .cfg file
> >> itself is really a python script. But I'm at a loss to figure out
> >> exactly how to proceed. I imagine it should look something like:
> >>
> >> import dynamic_reconfigure
> >> from ____.___ import ____
> >> ...
> >> myserver = dynamic_reconfigure.server.Server(____, my_callback)
> >>
> >> Any guesses how I should fill in the blanks? :)
> >>
> >> Pat
> >>
> >> On Wed, Apr 21, 2010 at 1:21 PM, Blaise Gassend <blaise at willowgarage.com> wrote:
> >> > No documentation yet, but you can have a look at this node, which is
> >> > pretty simple:
> >> > svn co
> >> > https://code.ros.org/svn/wg-ros-pkg/branches/trunk_boxturtle/sandbox/image_rotate
> >> >
> >> > On Wed, 2010-04-21 at 12:00 -0700, Patrick Bouffard wrote:
> >> >> Is anyone aware of an example of a dynamic_reconfigure server as part
> >> >> of a Python node? The documentation seems to only talk about how to
> >> >> set up a client, but code for the server does appear to be in
> >> >> boxturtle and I have some Python based nodes which I would like to be
> >> >> able to dynamically_reconfigure. :)
> >> >>
> >> >> Thanks,
> >> >> Pat
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